CN104773270B - Machine sea turtle for clearing garbage in water - Google Patents
Machine sea turtle for clearing garbage in water Download PDFInfo
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- CN104773270B CN104773270B CN201510164525.3A CN201510164525A CN104773270B CN 104773270 B CN104773270 B CN 104773270B CN 201510164525 A CN201510164525 A CN 201510164525A CN 104773270 B CN104773270 B CN 104773270B
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Abstract
The invention discloses a machine sea turtle for clearing garbage in water. The machine sea turtle comprises a cuboidal plastic box as a machine sea turtle body, wherein a sinking-floating mechanism for enabling the machine sea turtle body to sink and float is arranged in the cuboidal plastic box; a plurality of water pumps which are distributed along three surfaces of the plastic box are consolidated on the outer wall of the cuboidal plastic box, drainage of the water pumps can push the sea turtle to move forward or move left and right; a garbage filter is designed below the cuboidal plastic box, the garbage filter comprises a water flow box, a propeller device for sucking water flow into a water flow box is consolidated before the water flow box, and a garbage filter mesh is arranged behind the water flow box; a limb action driving mechanism is consolidated on the garbage filter and can drive four limbs of the sea turtle to move; and a designed control mechanism is used for controlling the sinking-floating mechanism, the water pumps, the limb action driving mechanism and the propeller to work. The machine sea turtle disclosed by the invention has a novel and reasonable structure, and compared with other bionic sea turtles, the cost is low, and the machine sea turtle integrates the functions of entertainment and cleaning into a whole and further has potential market value in aquariums, swimming pools and other places.
Description
The application is application number 201310113224.9, the applying date: 2013-04-03, the divisional application of title " Turtle robot ".
Technical field
The present invention relates to a kind of underwater combined with amusement based on cleaning, be a kind of Turtle robot.
Background technology
At present, similar form has: aquatic bionic Chelomia mydas (Linnaeus). diving robot, bionic machine Chelomia mydas (Linnaeus). etc..
Aquatic bionic Chelomia mydas (Linnaeus). robot current situation
1. a bionic type Turtle robot of Peking University.This bionic machine Chelomia mydas (Linnaeus). has two-stage freedom degree Qi Zhi mechanism, can realize the three-dimensional motion of complexity, and this is a Turtle robot based on bionic coatings, and it is simple by butter layer sealing mechanism, reliable and stable in water exercise, and flexibly, mobility is good in motion.The aquatic Fish of main analog and whale globefish class bionical wave propulsion mode, can be applicable to underwater unmanned detector.
2. the researcher of Swiss Federal Institute of Technology is with Chelomia mydas (Linnaeus). as prototype, has made one " Chelomia mydas (Linnaeus). " diving robot.Two fins of its front end have at a relatively high mechanical reduction degree, arbitrarily can rotate at three dimensions, allow its trip speed reach 2 meter per seconds.Additionally, robot further provided with some equipment is easily accomplished task for scientific research, help scientist under complicated marine environment.
3. Northwestern Polytechnical University imitates Chelomia mydas (Linnaeus). flapping wing underwater robot.This robot is that a kind of imitative Chelomia mydas (Linnaeus). advances, uses flapping wing to advance and band gliding function, have high maneuverability, efficiently, low-resistance low noise, low-power consumption, the Multi-purpose underwater robot of oceangoing voyage journey.It has flapping wing and advances and two kinds of mode of operations of glide.When flapping wing advances, flutter water by the main wing of robot both sides and produce thrust, promote robot to advance, then adjust navigation attitude by the rear rudder of both sides, and by the various duties of the direction of propulsion of two flapping wings and rudder are combined, it is possible to achieve the various simple or complicated motion of robot.During glide, flapping wing quits work, and by gravity and the position of centre of gravity of regulation robot, can realize the underwater gliding of robot.By carrying various special equipment in this robot, the application of the aspects such as marine resources exploration, marine environment investigation also can be carried out.
Mainly for scientific research, there is cost high in above-mentioned aquatic bionic Chelomia mydas (Linnaeus)., design complexity, the problem being unfavorable for promoting to masses.On the other hand, integrate practical the most rare with the bionic machine fish entertained, on market, aquarium, swimming pool etc. are almost without the similar imitative Chelomia mydas (Linnaeus). machine appearance entertaining and having certain function, and wherein cleaning function helps to extend exchange water cycle, saving water resource.While bringing entertainment effect, also reaffirm the importance of environmental protection, saving water resource, promote that youngsters and children understands sea, recognize marine creature, help to increase experience.Recently the appearance of some bionic machine fish becomes a big attraction, the sense of reality brought by it, has attracted the eyeball of a lot of spectators, has even been difficult to distinguish truth from false.It is the most welcomed by the people that the appearance of these Biomimetic Fishs also illustrates that machinery is viewed and admired in amusement, has the biggest market development space.Turtle robot changes spectators and only possesses amusement function to bionic machine fish and underwater cleaning tool can only realize the understanding of cleaning action, electric-mechanic control system, the practical theory complementary with amusement is elaborated again to modern, the most also the development person for vast machine fish provide the most wide thinking, allow them can design more installations integrating practicality and amusement as inspiration.Therefore these works have bigger market prospect and promotional value.
Summary of the invention
It is an object of the invention to provide a kind of rational in infrastructure, service behaviour is novel, can be used for clearing up the Turtle robot of rubbish in water.
The technical solution of the present invention is:
A kind of Turtle robot, is characterized in that: include the spam filters below the cuboid plastic casing as Turtle robot health and cuboid plastic casing；The sink-float mechanism making Turtle robot health rise and fall is set in cuboid plastic casing, cuboid plastic casing outer wall consolidates multiple water pump along plastic casing three EDS maps, the drainage direction of multiple water pumps include left and right, after；In spam filters, consolidation drives the limb action drive mechanism of quadruped locomotion；Spam filters includes current box, consolidates and current suck the propeller set in current box, arrange rubbish filtering net after current box before current box；One control system controls sink-float mechanism, water pump, limb action drive mechanism and the work of propeller.
Described sink-float mechanism includes that head stretches out plastic casing and carries out the syringe of discharging water, injector cartridge is fixed on fixing aluminium sheet, it is fixedly mounted with sink-float on fixing aluminium sheet and drives motor, the piston rod of syringe is fixing with mobile aluminium sheet to be connected, mobile aluminium sheet is fixing with tooth bar to be connected, and sink-float drives the output shaft gear of motor to engage with tooth bar.
Filling lead on fixing aluminium sheet, the slide block of lead is fixedly connected on mobile aluminium sheet by aluminum corner brace.
Blocking a plastic grid on plastic casing inner bottom plating, injector cartridge is fixed on fixing aluminium sheet, and fixing aluminium sheet is fixed on plastic grid by bolt and nut, and syringe card is within a grid, it is achieved horizontal location.
Described limb action drive mechanism includes the guide rail being fixed in spam filters, extremity drive steering wheel to be fixedly connected on guide rail, extremity drive the output shaft of steering wheel to be connected with steering wheel, the structure that two ends of steering wheel are connected drives symmetrically structure centered by the output shaft of steering wheel by extremity, this symmetrical structure includes the first rod member that one end is connected turnably with steering wheel, the other end of the first rod member is connected turnably with slide block, one end of slide block and the second rod member connects turnably, the other end and the 3rd rod member of the second rod member connect turnably, 3rd rod member is being connected with the 4th rod member turnably near the second rod member junction, 4th rod member is perpendicular to guide rail direction and is fixed on guide rail.Described slide block can be in slide on rails or rolling.
Box that base plate that rubbish filtering net is converted into by soft glass is with holes and the filter cloth being contained on hole form, and this drainage screen is arranged at the water export of current box by hasp；Current box is provided with current deflecting plate.
Described control system is distance type control system, and including main control module, main control module is connected with wireless receiving module, and main control module is connected with motor drive module.
Present configuration is new reasonable, with low cost compared to other bionical Chelomia mydas (Linnaeus).s, and amusement of holding concurrently in one with cleaning function, has market potential and is worth in the place such as aquarium, swimming pool.Can promote that youngsters and children understands sea, recognize marine creature, help to increase experience, while bringing entertainment effect, in its clean water, the function of rubbish can reduce water circulation, thus saving water resource.The present invention uses cuboid plastic casing and spam filters as the health of Chelomia mydas (Linnaeus)., devises the extremity of the Turtle robot that can move；Devise left and right, the motion in first three direction and sink-float mechanism；Devise water is processed, the filter for installation of junk-free；Remote controller is combined with single-chip microcomputer, it is achieved that the control to Turtle robot.
Main innovation point of the present invention
Function innovation:
In the face of current submarine mechanical function is single-minded, towards scientific research, cost of manufacture is high, the present situation that on market, games for play is few under water simultaneously, we simulate the feature of Chelomia mydas (Linnaeus). in ocean, avoid the most bionical the brought high cost of pursuit, devise a with low cost, gathered garbage-cleaning and Turtle robot that amusement is integrated, have abundant recreational while have certain practicality.This Turtle robot can forward and side-to-side movement, it is possible to realizes the filtration to water source.Currently without relevant report, it it is a basic innovation of the present invention.
Structure innovation:
1. about the motion of extremity, feature based on slider-crank mechanism, has carried out the positive and negative combination of slider-crank mechanism, has devised the structure of symmetrical expression simultaneously, by the positive and negative motor control with certain angle of steering wheel, the motion of Chelomia mydas (Linnaeus). extremity is made to reach concordance dexterously.
2. use the driving force that external pumping drainage moves as Chelomia mydas (Linnaeus)., on the one hand the space in Chelomia mydas (Linnaeus). body is saved, the most this water pump can avoid the high cost that imitative fin class device advances, and water flow jet ability is strong, ensure that enough motive forces, be conducive to overcoming the resistance of water, guide Chelomia mydas (Linnaeus). motion in water.
3. use the refuse collector of the detachable drainage screen of propeller type, by the drive of propeller, improve the efficiency of cleaning, the guiding of current deflecting plate and the feature of current is utilized to carry out the filtration of water, convenient collection rubbish, the water entering defecator is drained to drainage screen, leaches impurity therein, prevent the backflow of water and impact from taking away rubbish simultaneously.
4. what the design of Chelomia mydas (Linnaeus). sink-float used in avoiding the exploitation of other Turtle robot is realized by the multivariant motion of extremity, and uses some syringes to enter water and draining, it is achieved the sink-float of Chelomia mydas (Linnaeus)..Being connected especially by syringe cylinder and fixing aluminium sheet are fixing, mobile aluminium sheet is fixing with syringe piston rod to be connected, sink-float drive driven by motor to move aluminium sheet and realize moving back and forth of syringe piston rod, carry out draining and enter water, reach the purpose of sink-float.
Accompanying drawing explanation
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the agent structure schematic diagram of one embodiment of the invention
Fig. 2 is sink-float structural scheme of mechanism
Fig. 3 is limb action drive mechanism schematic diagram
Fig. 4 is the lateral plan of Fig. 3.
Fig. 5 is the frame for movement sketch of Fig. 3.
Fig. 6 is spam filters structural representation
Fig. 7 is water pump distribution schematic diagram
Fig. 8 is control system control flow chart of the present invention.
Fig. 9 is Control system architecture block diagram.
Figure 10 is single chip circuit figure.
Detailed description of the invention
A kind of Turtle robot, including as the cuboid plastic casing 1 of Turtle robot health and the spam filters of cuboid plastic casing lower end；The sink-float mechanism making Turtle robot health rise and fall is set in cuboid plastic casing, cuboid plastic casing outer wall consolidates multiple water pump 8 along plastic casing three EDS maps, the drainage direction of multiple water pumps include left and right, after；In spam filters, consolidation drives the limb action drive mechanism of quadruped locomotion；Spam filters includes current box, consolidates the propeller set 12 being sucked by current in current box, arrange rubbish filtering net 10 after current box before current box；One control system controls sink-float mechanism, water pump, limb action drive mechanism and the work of propeller.
Described sink-float mechanism includes that head stretches out plastic casing 1 and carries out the syringe 2 of discharging water, injector cartridge is fixed on fixing aluminium sheet 4, it is fixedly mounted with sink-float on fixing aluminium sheet 4 and drives motor 3, the piston rod of syringe is fixing with mobile aluminium sheet 7 to be connected, mobile aluminium sheet is fixing with tooth bar 5 to be connected, and sink-float drives the output shaft gear of motor 3 to engage with tooth bar 5.
Filling lead 8 on fixing aluminium sheet 4, the slide block 6 of lead is fixedly connected on mobile aluminium sheet 7 by aluminum corner brace.
Blocking a plastic grid 21 on plastic casing inner bottom plating, injector cartridge is fixed on fixing aluminium sheet 4, and fixing aluminium sheet 4 is fixed on plastic grid 21 by bolt and nut, and syringe is stuck in plastic grid 21, it is achieved horizontal location.
Described limb action drive mechanism includes the guide rail being fixed in spam filters, extremity drive steering wheel to be fixedly connected on guide rail, extremity drive the output shaft of steering wheel to be connected with steering wheel, the structure that two ends of steering wheel are connected drives symmetrically structure centered by the output shaft of steering wheel by extremity, this symmetrical structure includes the first rod member 17 that one end is connected turnably with steering wheel 16, the other end of the first rod member 17 is connected turnably with slide block 13, slide block 13 is connected turnably with one end of the second rod member 18, the other end and the 3rd rod member 20 of the second rod member 18 connect turnably, 3rd rod member is being connected with the 4th rod member 19 turnably near the second rod member junction, 4th rod member 19 is perpendicular to guide rail direction and is fixed on guide rail 14.Described symmetrical structure such as Fig. 3, refers to: steering wheel 16, two, left and right the first rod member 17 and two, left and right slide block 13 are centrosymmetric；Left and right two the second rod members 18, two, left and right the 3rd rod member 20, two, left and right the 4th rod members 19 are axisymmetricly.
Described slide block 13, as it is shown on figure 3, profile is circular, can slide on guide rail 14 or roll.
Box that base plate that rubbish filtering net is converted into by soft glass is with holes and the filter cloth being contained on hole form, and this drainage screen is arranged at the water export of current box by hasp；Current box is provided with current deflecting plate.
Described control system is distance type control system, and including main control module, main control module is connected with wireless receiving module, and main control module is connected with motor drive module.
Sink-float mechanical work principle
Plunging motion controls sink-float by remote controller and drives motor 3, motor output shaft pinion rotation, the tooth bar 5 being fixed on mobile aluminium sheet is made to move back and forth, and then drive mobile aluminium sheet and the reciprocating motion of syringe piston rod entirety, in order to prevent mobile aluminium sheet from producing crooked at the volley, devise mobile route guidance post 8, make syringe smoothly complete discharging water action.During syringe water suction, Turtle robot overall weight increases, and overall weight is more than buoyancy of water, and Chelomia mydas (Linnaeus). sinks；During syringe draining, the water in syringe reduces, and the overall weight of Turtle robot alleviates, and less than buoyancy of water, Chelomia mydas (Linnaeus). floats.
Limb motion mechanical work principle
The motion feature based on slider-crank mechanism of extremity, has carried out the positive and negative combination of slider-crank mechanism, has devised the structure of symmetrical expression simultaneously.Steering wheel has the positive and negative rotation of certain angle and drives two slide block 13 symmetrical expressions to move left and right, so that the 3rd rod member 20 symmetrical expression as extremity swings, makes the motion of Chelomia mydas (Linnaeus). extremity reach concordance and bionical effect, concrete mechanism such as Fig. 3 dexterously.
The motion of extremity is completely in water operation, need work problem in the water of solution steering wheel, the present invention uses the steering wheel that structure is less and compact, bigger in the surface tension of Shui Zhongshui, butter layer it is filled with inside steering wheel, making the gap within steering wheel be full of butter, that avoids water in water enters the steady operation keeping steering wheel, solves the problem that water proof seals as far as possible.
Spam filters operation principle
Garbage filtering device takes full advantage of the feature of current, the current direction defecator of some when Chelomia mydas (Linnaeus). moves, and blows in filtration with the cleaning propeller 12 being fixed on current box by water simultaneously, adds the flow velocity of current in defecator.Being provided with current deflecting plate 11 in current box, water flows through from current box, has current deflecting plate to guide the flow direction of water, rubbish filtering net 10 is set after current box, water flows directly into rubbish filtering net through the guiding of current deflecting plate, and impurity can prevent excessive by current band in box.Rubbish filtering net can be arranged on current box by hasp, can be with artificial unloading.
Direction control mechanism operation principle
At the affixed multiple external water pumps of Chelomia mydas (Linnaeus). external bonding, water pump, along three EDS maps of plastic casing surrounding, realizes left and right, the motion in first three direction respectively.Being electromagnetic type water pump in view of Chelomia mydas (Linnaeus). body interior finite volume and water pump, the circuit part of water pump fully seals, and rotor uses magnetic rotor, the magnetic field of exporting change makes rotor rotate, work can be soaked in water, therefore water pump is fixedly arranged at external, use remote controller control equally.When controlling one of them pumping drainage, its opposition produced can promote whole Turtle robot adverse movement, consolidates two water pumps, it is provided that enough onward impulses after Chelomia mydas (Linnaeus)..Multiple water pumps are respectively completed left and right, the motion in first three direction.
The control system of Turtle robot
Relevant control requirement based on Turtle robot, devises and has distant control function wireless controller.Based on Single Chip Microcomputer (SCM) program control, single-chip microcomputer accepts the instruction that remote controller sends, and completes corresponding action request, it is achieved the control mode that remote control combines with single-chip microcomputer.Control sink-float by remote controller and drive the rotating of motor, to realize the sink-float of Turtle robot；Control extremity by remote controller and drive the rotation of steering wheel, it is achieved the consistent swing of Chelomia mydas (Linnaeus). extremity.Controlled the rotation of cleaning propeller by remote controller, carry out the filter cleaning action at water source.
The hardware system that robot controls is mainly by remote controller wireless receiving module, supply module, main control module, motor drive module, relay module, power plant module etc., and wherein power plant module includes direct current generator, steering wheel etc..Its structured flowchart and relevant control flow such as Fig. 7.
Turtle robot main control module uses MCS-51 series STC89C52 single-chip microcomputer.This single-chip microcomputer is a kind of low-power consumption, high performance 8 CMOS-type single-chip microcomputers.Single-chip minimum system figure such as Fig. 8.
Claims (1)
1., for clearing up a Turtle robot for rubbish in water, it is characterized in that: include as machine
Spam filters below the cuboid plastic casing of device Chelomia mydas (Linnaeus). health and cuboid plastic casing；Rectangular
The sink-float mechanism making Turtle robot health rise and fall, cuboid plastic casing outer wall are set in body plastic casing
The multiple water pump along plastic casing three EDS maps of upper consolidation, the drainage direction of multiple water pumps include a left side,
Right, after；In spam filters, consolidation drives the limb action drive mechanism of quadruped locomotion；Rubbish
Filter includes current box, consolidates the propeller dress being sucked by current in current box before current box
Put, rubbish filtering net is set after current box；One control system control sink-float mechanism, water pump,
Limb action drive mechanism and the work of propeller；Described limb action drive mechanism includes fixing
Guide rail in spam filters, extremity drive steering wheel to be fixedly connected on guide rail, and extremity drive
The output shaft of steering wheel is connected with steering wheel, and the structure that two ends of steering wheel are connected drives steering wheel with extremity
Output shaft centered by symmetrically structure, this symmetrical structure includes that one end connects turnably with steering wheel
The first rod member connect, the other end of the first rod member is connected turnably with slide block, slide block and second
One end of rod member connects turnably, and the other end and the 3rd rod member of the second rod member connect turnably
Connecing, the 3rd rod member is being connected with the 4th rod member turnably near the second rod member junction, and the 4th
Rod member is perpendicular to guide rail direction and is fixed on guide rail；Described slide block can be in slide on rails or rolling
Dynamic；Described sink-float mechanism includes that head stretches out plastic casing and carries out the syringe of discharging water, syringe
Cylinder is fixed on fixing aluminium sheet, fixing aluminium sheet is fixedly mounted with sink-float and drives motor, the work of syringe
Stopper rod is fixing with mobile aluminium sheet to be connected, and mobile aluminium sheet is fixing with tooth bar to be connected, and sink-float drives motor
Output shaft gear engage with tooth bar；Filling lead on fixing aluminium sheet, the slide block of lead passes through
Aluminum corner brace is fixedly connected on mobile aluminium sheet；A plastic grid is blocked, injection on plastic casing inner bottom plating
Device cylinder is fixed on fixing aluminium sheet, and fixing aluminium sheet is fixed on plastic grid by bolt and nut
On, syringe card is within a grid, it is achieved horizontal location；Rubbish filtering net is to be converted into by soft glass
Base plate box with holes and the filter cloth composition that is contained on hole, this drainage screen is arranged on by hasp
At the water export of current box；Current box is provided with current deflecting plate；Described control system is
Distance type control system, including main control module, main control module is connected with wireless receiving module, main
Control module is connected with motor drive module；Single-chip microcomputer accepts the instruction that remote controller sends, and completes phase
The action request answered, it is achieved the control mode that remote control combines with single-chip microcomputer；By remote controller control
System sink-float drives the rotating of motor, to realize the sink-float of Turtle robot；By remote controller control
Extremity drive the rotation of steering wheel, it is achieved the consistent swing of Chelomia mydas (Linnaeus). extremity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510164525.3A CN104773270B (en) | 2013-04-03 | 2013-04-03 | Machine sea turtle for clearing garbage in water |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510164525.3A CN104773270B (en) | 2013-04-03 | 2013-04-03 | Machine sea turtle for clearing garbage in water |
| CN201310113224.9A CN103192966B (en) | 2013-04-03 | 2013-04-03 | Turtle robot |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310113224.9A Division CN103192966B (en) | 2013-04-03 | 2013-04-03 | Turtle robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104773270A CN104773270A (en) | 2015-07-15 |
| CN104773270B true CN104773270B (en) | 2017-01-11 |
Family
ID=48715824
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510164525.3A Expired - Fee Related CN104773270B (en) | 2013-04-03 | 2013-04-03 | Machine sea turtle for clearing garbage in water |
| CN201510164546.5A Expired - Fee Related CN104773271B (en) | 2013-04-03 | 2013-04-03 | Drone version Turtle robot |
| CN201310113224.9A Expired - Fee Related CN103192966B (en) | 2013-04-03 | 2013-04-03 | Turtle robot |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510164546.5A Expired - Fee Related CN104773271B (en) | 2013-04-03 | 2013-04-03 | Drone version Turtle robot |
| CN201310113224.9A Expired - Fee Related CN103192966B (en) | 2013-04-03 | 2013-04-03 | Turtle robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN104773270B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106759197A (en) * | 2017-01-25 | 2017-05-31 | 山西省水利水电科学研究院 | Cleaning machine for garbage on water |
| CN110347169A (en) * | 2019-07-30 | 2019-10-18 | 南京昱晟机器人科技有限公司 | The control system of automatic obstacle avoiding and planning under underwater robot and its high-speed motion |
| CN112726535A (en) * | 2019-10-28 | 2021-04-30 | 昆山市久旺通智能工程有限公司 | Urban inland river intelligent cleaning robot based on internet of things control |
| CN112185230B (en) * | 2020-09-21 | 2022-04-26 | 山东工业职业学院 | Rack transmission swing arm mechanism |
| CN114747525B (en) * | 2022-04-11 | 2023-04-18 | 华南农业大学 | Free-moving feeding bionic turtle |
| CN115123502B (en) * | 2022-07-22 | 2023-06-09 | 深圳技术大学 | Turtle fin driving device and bionic turtle |
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| US6790119B1 (en) * | 2003-06-27 | 2004-09-14 | Francis See Chong Chia | Swimming toy animal |
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| CN100532193C (en) * | 2007-03-01 | 2009-08-26 | 北京大学 | Bionic machinery chelonian with two-stage freedom degree flipper mechanism |
| CN101890888B (en) * | 2010-07-12 | 2011-09-14 | 华中科技大学 | Amphibious bionic turtle robot |
| CN202783717U (en) * | 2012-09-02 | 2013-03-13 | 侯圣春 | Vessel for cleaning garbage on water surface |
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- 2013-04-03 CN CN201510164525.3A patent/CN104773270B/en not_active Expired - Fee Related
- 2013-04-03 CN CN201510164546.5A patent/CN104773271B/en not_active Expired - Fee Related
- 2013-04-03 CN CN201310113224.9A patent/CN103192966B/en not_active Expired - Fee Related
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| CN101134500A (en) * | 2007-04-30 | 2008-03-05 | 哈尔滨工程大学 | Bionic underwater chelonian robot |
| CN202320733U (en) * | 2011-11-25 | 2012-07-11 | 刘杰 | Turbine rotation rubbish collection ship |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN104773270A (en) | 2015-07-15 |
| CN103192966A (en) | 2013-07-10 |
| CN103192966B (en) | 2015-08-12 |
| CN104773271B (en) | 2017-01-04 |
| CN104773271A (en) | 2015-07-15 |
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